Design of Five-Bar Screw-Lever Manipulator and Optimization of its Output Link Path of Motion

Fomin, Alexey; Ivanov, Wsevolod; Paik, Jamie

doi:10.1016/j.proeng.2017.10.701

Cited by 4 publications

(2 citation statements)

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“…There are other mechanisms for mixing operations in which end-effectors are guided along spatial trajectories. There is a mechanism that reproduces complex screw trajectories with a curvilinear axis, presented in [3]. A mixing device that provides a complex trajectory with four dependent motions is shown in [9].…”

Section: • It Has Been Found That the Developed Mechanism Is The Simpmentioning

confidence: 99%

“…Another synthesis method is shown in [2]; it is applied for serial-parallel mechanisms with spatial multi-loop kinematic chains based on the displacement group theory and the Assur principle. In another study [3], the authors show a design method of the five-bar screw-lever manipulator and vary its endeffector's trajectory. The proposed method is based on searching for optimal geometries of links that allow reproducing complex screw trajectories by the end-effector.…”

Section: Introductionmentioning

confidence: 99%

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Development of a Mixing Mechanism with a Complex Motion of the End-effector

Fomin¹,

Ivanov²

2019

SV-JME

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This study is focused on the development and analysis of a single-driven mixing mechanism, synthesized with a minimum number of links and joints. The end-effector of this mechanism is designed as a screw ending with a mixing element (blades) moving along a spatial trajectory. The end-effector is set between movable links in the kinematic chain of the mechanism. This allows increasing the working zone of the endeffector. The study provides kinematic analysis via an analytical method of coordinate transformations that have resulted in the detection of variable kinematic parameters (tilt angles and displacements in joints) depending on driving link rotation angle. Based on these results, the motion trajectory of the mixing element has been analytically determined and reproduced. Analytical findings have been verified by results of motion simulations. The presented mechanism is advisable to use for the preparation of various mixtures and levelling the concentrations and temperature of mixed substances. The mechanism can be used in the food, medical, chemical, and construction industries, as well as in agriculture.

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Section: • It Has Been Found That the Developed Mechanism Is The Simpmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%